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Robust adaptive neuro-fuzzy control of uncertain nonholonomic systems

Robust adaptive neuro-fuzzy control of uncertain nonholonomi...

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2010 8th IEEE International Conference on Control and automation, ICCA 2010

作者： Hong, Fan Ge, S.S. Pang, C.K. Lee, T.H. Sun, Z. DSI Building 5 Engineering Drive 1 Singapore 117608 Singapore Dept. of Electrical and Computer Engineering National University of Singapore Singapore 117605 Singapore College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

ISBN: (纸本)9781424451951

In this paper, we present an adaptive neuro-fuzzy controller design for a class of uncertain nonholonomic systems in the perturbed chained form with unknown virtual control coefficients and strong drift nonlinearities. The robust adaptive neuro-fuzzy control laws are developed using state scaling and backstepping. Semi-global uniform ultimate boundedness of all the signals in the closed-loop are guaranteed, and the system states are proven to converge to a small neighborhood of zero. The control performance of the closed-loop system is guaranteed by appropriately choosing the design parameters. By using fuzzy logic approximation, the proposed control is free of control singularity problem. An adaptive control based switching strategy is proposed to overcome the uncontrollability problem associated with x0(t0) = 0. © 2010 IEEE.

关键词： Backstepping

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Microwave Oscillator on Transistor Structures with Dielectric Resonators

Microwave Oscillator on Transistor Structures with Dielectri...

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2020 IEEE Ukrainian Microwave Week, UkrMW 2020

作者： Osadchuk, Iaroslav Osadchuk, Oleksandr Osadchuk, Vladimir Semenov, Andriy Semenova, Olena Koval, Kostyantyn Vinnytsia National Technical University Dept. of Radio-Frequency Engineering Vinnytsia Ukraine Vinnytsia National Technical University Dept. of Telecommunication Systems and Tv Broadcasting Vinnytsia Ukraine Vinnytsia National Technical University Faculty for Computer Systems and Automation Vinnytsia Ukraine

ISBN: (纸本)9781728173139

For the microwave oscillator with cylindrical dielectric resonator based on transistor structures two versions of electric circuit and construction were developed and researched. The oscillator operates according to compensation of active losses in a dielectric cylindrical resonator by the negative differential resistance of transistor structures. Experimental studies have shown that both versions of the microwave oscillator generate oscillations with the frequency of 10.25 GHz and amplitudes of 700..750 mV and 280..300 mV, respectively. The frequency and phase noise levels are -50 dB, -45 dB, and -39 dB when adjusted from the generation frequency to 120 kHz, 150 kHz, and 180 kHz, respectively. The long-term relative frequency instability is 2.2•10-6 1/°C. © 2020 IEEE.

关键词： Microwave oscillators

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A survey of feature extraction approaches in analog circuit fault diagnosis

A survey of feature extraction approaches in analog circuit ...

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2008 Pacific-Asia Workshop on Computational Intelligence and Industrial Application, PACIIA 2008

作者： Hong, Liu Guangju, Chen Shuyan, Jiang Guoming, Song School of Automation Engineering University of Electronic Science and Technology of China Chengdu 610054 China School of Computer Science and Technology Changchun University of Science and Technology Changchun 130022 China Computer Engineering Dept. Chengdu Electromechanical College Chengdu Sichuan province 610031 China

ISBN: (纸本)9780769534909

Feature extraction is the key process in any pattern recognition issues. There is no exception in analog circuit fault diagnosis, because fault diagnosis is equivalent to pattern recognition issue in nature. In this paper, several feature extraction approaches in the field of analog circuits fault diagnosis are summed up. Newly appeared entropy-based, kernel-function-based, fractal-theorybased, rough-set-based feature extractions approaches are described besides the widely used wavelet analysis approach. The advantages and disadvantages of these approaches are discussed also. Potential solutions and developing trends of these feature extraction approaches are indicated. © 2008 IEEE.

关键词： Feature extraction

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Unmanned vehicle-aided automated meter reading

Unmanned vehicle-aided automated meter reading

引用

6th International Conference on Broadband Communications and Biomedical Applications, IB2COM 2011

作者： Tuna, Gurkan Gungor, V. Cagri Gulez, Kayhan Trakya University Department of Computer Programming Edirne Turkey Bahçeşehir University Faculty of Engineering Department of Computer Engineering Istanbul Turkey Yildiz Technical University Electrical-Electronics Eng. Faculty Control and Automation Eng. Dept. Istanbul Turkey

ISBN: (纸本)9781467307680

This paper presents a novel approach of using unmanned vehicles for Automated Meter Reading (AMR) applications in rural areas where there are a few consumers scattered around a wide area. The proposed system does not require a fixed network infrastructure to transfer data to a central database, since data collection is carried out by unmanned vehicles. Compared to traditional meter reading systems, the use of unmanned vehicles for AMR brings several advantages, such as low cost operation, flexibility, and online system management. However, the realization of these potential gains directly depends on reliable communication capabilities of the deployed system and successful navigation of unmanned vehicles. Overall, in this paper, the design principles and challenges of using unmanned vehicles for AMR applications in rural areas have been presented. Also, the communication architecture of the proposed system has been explained and comparative simulation studies have been performed in terms of energy efficiency and navigation accuracy. © 2011 IEEE.

关键词： Wireless sensor networks

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Decoupling autopilot MIMO controller design

Decoupling autopilot MIMO controller design

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31st IASTED International Conference on Modelling, Identification, and Control, MIC 2011

作者： Bányász, Csilla Keviczky, László Dept. of Automation and Informatics Control Engineering Research Group of the H. Ac. of Sc. Computer and Automation Research Institute of the H. Ac. of Sc. Kende u 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9780889868632

The principal lateral motion of an aircraft is described by a minimum of fourth order coupled state variable model. It is interesting to investigate how a decoupling controller can be designed. The Youla-parametrization is a simple method to design controllers. The KB-parametrization is a successful extension of this method for two-degree-of freedom (2DOF) systems. The paper extends this methodology for multivariable case and applies to the decoupling lateral control.

关键词： Controllers

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A Reference Shaping Filter Design Method for Discrete-Time Sliding Mode Control with Decoupled Disturbance Compensator to Inhibit Overshoot 23

A Reference Shaping Filter Design Method for Discrete-Time S...

引用

23rd International Conference on Control, automation and Systems, ICCAS 2023

作者： Yang, Dae-Young Oh, Tae-Ho Kim, Young-Seok Kim, Tae-Hoon Lee, Sang-Hoon Cho, Dong-Il Dan Seoul National University ASRI/ISRC Dept. of Electrical and Computer Engineering Seoul08826 Korea Republic of Rs Automation Co. Ltd. Gyeonggi-do17709 Korea Republic of

ISBN: (纸本)9788993215274

The discrete-time sliding mode control (DSMC) is a highly utilized method in industrial systems, such as manufacturing systems, robot manipulators, and automation systems. The DSMC with decoupled disturbance compensator (DDC) method is one of the robust control methods with high tracking performance and fast responses. Based on error dynamics, a performance-shaping methodology for DSMC with DDC has also been developed to reduce tracking position errors in industrial servo systems. However, the input reference to the output transfer function of the DSMC has a transfer function zero, causing an unwanted overshoot and degrading the performance of the controller. Thus, this overshoot characteristic can be problematic in some systems that have stringent no-overshoot specifications. In this paper, a reference shaping filter design method is proposed that inhibits any overshoot in the response of the DSMC with DDC in a double-integrator system. The presented controller is applied to a linear motor system to illustrate the performance. © 2023 ICROS.

关键词： Controllers

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Kernel fully constrained least squares abundance estimates

Kernel fully constrained least squares abundance estimates

引用

2007 IEEE International Geoscience and Remote Sensing Symposium, IGARSS 2007

作者： Broadwater, Joshua Chellappa, Rama Banerjee, Amit Burlina, Philippe University of Maryland Dept. of Electrical and Computer Engineering Center for Automation Research College Park MD United States Johns Hopkins University Applied Physics Laboratory Laurel MD United States

ISBN: (纸本)1424412129

A critical step for fitting a linear mixing model to hyperspectral imagery is the estimation of the abundances. The abundances are the percentage of each endmember within a given pixel;therefore, they should be non-negative and sum to one. With the advent of kernel based algorithms for hyperspectral imagery, kernel based abundance estimates have become necessary. This paper presents such an algorithm that estimates the abundances in the kernel feature space while maintaining the non-negativity and sum-to-one constraints. The usefulness of the algorithm is shown using the AVIRIS Cuprite, Nevada image. © 2007 IEEE.

关键词： Satellite imagery

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Dynamic visual servoing of robots in uncalibrated environments

Dynamic visual servoing of robots in uncalibrated environmen...

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2005 IEEE International Conference on Robotics and automation

作者： Liu, Yun-Hui Wang, Hesheng Lam, Kinkwan Dept. of Automation and Computer Aided Engineering Chinese University of Hong Kong Shatin NT Hong Kong Joint Center for Intelligent Sensing and Systems National University of Defense Technology Hunan China

ISBN: (纸本)078038914X

This paper presents a new adaptive controller for dynamic image-based visual servoing of a robot manipulator when the intrinsic and extrinsic parameters of the camera are not calibrated. To cope with nonlinear dependence of the image Jacobian on the unknown parameters, this controller employs a matrix called nonscaled image Jacobian which does not depend on the scale factors determined by the dept.s of feature points. By removing the scale factors, the camera parameters appear linearly in the close-loop dynamics so that a new algorithm, different from Slotine and Li's, is developed to estimate their values on-line. In the parameter adaptation, in addition to the regressor term, our algorithm also uses the errors between the real and estimated projections of the feature points on the image plane so as to guarantee the convergence of the estimated parameters to the real values up to a scale. A new Lyapunov function is introduced to prove asymptotic convergence of the image errors based on the robot dynamics. Experiments have been conducted to demonstrate the performance of the proposed controller. ©2005 IEEE.

关键词： Robots

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RETRACTED ARTICLE: The technology of software cloning in the application of GIS object migration

RETRACTED ARTICLE: The technology of software cloning in the...

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2009 2nd International Conference on Future Information Technology and Management engineering, FITME 2009

作者： Bai, Guimei Zhang, Lijuan Zhang, Fu Dept. of Computer Science and Information Engineering Luoyang Institute of Science and Technology LIT Luoyang China Dept. of Electrical Engineering and Automation Luoyang Institute of Science and Technology LIT Luoyang China Key Laboratory of Virtual Geographic Environment Ministry of Education Nanjing Normal University NNU Nanjing China

ISBN: (纸本)9780769538808

GIS data source stored in file is difficult to establish a fast indexing, inefficient to access the data between different files and to migrate from one source to another. In order to achieve GIS data stored in file synchronizing and sharing, using object cloning to realize data access and migration between different sources is discussed based on the GIS platform of AutoCAD Map. And the method of object cloning in three aspects, i.e. feasibility, code complexity, integrity, is compared with the traditional ones (the methods of redrawing and object copying) on object migration. Experimental result shows that the method of object cloning is better than the traditional ones. © 2009 IEEE.

关键词： Cloning

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Sensor bias fault isolation in a class of nonlinear systems 5

Sensor bias fault isolation in a class of nonlinear systems

引用

5th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Safeprocess 2003

作者： Zhang, X. Parisini, T. Polycarpou, M. Intelligent Automation Inc. RockvilleMD20855 United States Dept. of Electrical Electronic and Computer Engineering DEEI-University of Trieste Trieste34127 Italy Dept. ECE University of Cyprus Cyprus and Dept. ECECS University of Cincinnati Nicosia 1678 CincinnatiOH45221-0090 United States

This paper presents a robust fault isolation scheme for a class of nonlinear systems with sensor bias type of faults. The proposed fault diagnosis architecture consists of a fault detection estimator and a bank of isolation estimators, each corresponding to a particular output sensor. Based on the class of nonlinear systems and sensor bias faults under consideration, the stability and learning properties of the fault isolation estimators are obtained, adaptive thresholds are derived for isolation estimator, and fault isolability conditions arc rigorously investigated, characterizing the class of nonlinem faults that are isolable by the proposed scheme. © 2003 International Federation of Automatic Control.

关键词： Nonlinear systems

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